#include <unordered_map>
#include <ros/ros.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <gps_common/GPSFix.h>
#include <sensor_msgs/NavSatFix.h>
#include <sensor_msgs/TimeReference.h>
#include <sensor_msgs/Imu.h>
#include <nav_msgs/Odometry.h>
#include <septentrio_gnss_driver/BlockHeader.h>
#include <septentrio_gnss_driver/MeasEpoch.h>
#include <septentrio_gnss_driver/MeasEpochChannelType1.h>
#include <septentrio_gnss_driver/MeasEpochChannelType2.h>
#include <septentrio_gnss_driver/AttCovEuler.h>
#include <septentrio_gnss_driver/AttEuler.h>
#include <septentrio_gnss_driver/PVTCartesian.h>
#include <septentrio_gnss_driver/PVTGeodetic.h>
#include <septentrio_gnss_driver/PosCovCartesian.h>
#include <septentrio_gnss_driver/PosCovGeodetic.h>
#include <septentrio_gnss_driver/VelCovCartesian.h>
#include <septentrio_gnss_driver/VelCovGeodetic.h>
#include <nmea_msgs/Gpgga.h>
#include <nmea_msgs/Gpgsa.h>
#include <nmea_msgs/Gpgsv.h>
#include <nmea_msgs/Gprmc.h>
#include <septentrio_gnss_driver/INSNavCart.h>
#include <septentrio_gnss_driver/INSNavGeod.h>
#include <septentrio_gnss_driver/IMUSetup.h>
#include <septentrio_gnss_driver/VelSensorSetup.h>
#include <septentrio_gnss_driver/ExtSensorMeas.h>

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Classes
class	ROSaicNodeBase
	This class is the base class for abstraction. More...

Typedefs
typedef septentrio_gnss_driver::AttCovEuler	AttCovEulerMsg

typedef septentrio_gnss_driver::AttEuler	AttEulerMsg

typedef septentrio_gnss_driver::BlockHeader	BlockHeaderMsg

typedef diagnostic_msgs::DiagnosticArray	DiagnosticArrayMsg

typedef diagnostic_msgs::DiagnosticStatus	DiagnosticStatusMsg

typedef septentrio_gnss_driver::ExtSensorMeas	ExtSensorMeasMsg

typedef nmea_msgs::Gpgga	GpggaMsg

typedef nmea_msgs::Gpgsa	GpgsaMsg

typedef nmea_msgs::Gpgsv	GpgsvMsg

typedef nmea_msgs::Gprmc	GprmcMsg

typedef gps_common::GPSFix	GPSFixMsg

typedef gps_common::GPSStatus	GPSStatusMsg

typedef sensor_msgs::Imu	ImuMsg

typedef septentrio_gnss_driver::IMUSetup	IMUSetupMsg

typedef septentrio_gnss_driver::INSNavCart	INSNavCartMsg

typedef septentrio_gnss_driver::INSNavGeod	INSNavGeodMsg

typedef nav_msgs::Odometry	LocalizationUtmMsg

typedef septentrio_gnss_driver::MeasEpochChannelType1	MeasEpochChannelType1Msg

typedef septentrio_gnss_driver::MeasEpochChannelType2	MeasEpochChannelType2Msg

typedef septentrio_gnss_driver::MeasEpoch	MeasEpochMsg

typedef sensor_msgs::NavSatFix	NavSatFixMsg

typedef sensor_msgs::NavSatStatus	NavSatStatusMsg

typedef septentrio_gnss_driver::PosCovCartesian	PosCovCartesianMsg

typedef septentrio_gnss_driver::PosCovGeodetic	PosCovGeodeticMsg

typedef geometry_msgs::PoseWithCovarianceStamped	PoseWithCovarianceStampedMsg

typedef septentrio_gnss_driver::PVTCartesian	PVTCartesianMsg

typedef septentrio_gnss_driver::PVTGeodetic	PVTGeodeticMsg

typedef geometry_msgs::Quaternion	QuaternionMsg

typedef sensor_msgs::TimeReference	TimeReferenceMsg

typedef uint64_t	Timestamp

typedef ros::Time	TimestampRos

typedef geometry_msgs::TransformStamped	TransformStampedMsg

typedef septentrio_gnss_driver::VelCovCartesian	VelCovCartesianMsg

typedef septentrio_gnss_driver::VelCovGeodetic	VelCovGeodeticMsg

typedef septentrio_gnss_driver::VelSensorSetup	VelSensorSetupMsg

Enumerations
enum	LogLevel { DEBUG, INFO, WARN, ERROR, FATAL }
	Log level for ROS logging. More...

Functions
Timestamp	timestampFromRos (const TimestampRos &tsr)
	Convert ROS timestamp to nsec timestamp. More...

TimestampRos	timestampToRos (Timestamp ts)
	Convert nsec timestamp to ROS timestamp. More...

Typedef Documentation

◆ AttCovEulerMsg

typedef septentrio_gnss_driver::AttCovEuler AttCovEulerMsg

Definition at line 100 of file typedefs.hpp.

◆ AttEulerMsg

typedef septentrio_gnss_driver::AttEuler AttEulerMsg

Definition at line 101 of file typedefs.hpp.

◆ BlockHeaderMsg

typedef septentrio_gnss_driver::BlockHeader BlockHeaderMsg

Definition at line 96 of file typedefs.hpp.

◆ DiagnosticArrayMsg

typedef diagnostic_msgs::DiagnosticArray DiagnosticArrayMsg

Definition at line 82 of file typedefs.hpp.

◆ DiagnosticStatusMsg

typedef diagnostic_msgs::DiagnosticStatus DiagnosticStatusMsg

Definition at line 83 of file typedefs.hpp.

◆ ExtSensorMeasMsg

typedef septentrio_gnss_driver::ExtSensorMeas ExtSensorMeasMsg

Definition at line 120 of file typedefs.hpp.

◆ GpggaMsg

typedef nmea_msgs::Gpgga GpggaMsg

Definition at line 110 of file typedefs.hpp.

◆ GpgsaMsg

typedef nmea_msgs::Gpgsa GpgsaMsg

Definition at line 111 of file typedefs.hpp.

◆ GpgsvMsg

typedef nmea_msgs::Gpgsv GpgsvMsg

Definition at line 112 of file typedefs.hpp.

◆ GprmcMsg

typedef nmea_msgs::Gprmc GprmcMsg

Definition at line 113 of file typedefs.hpp.

◆ GPSFixMsg

typedef gps_common::GPSFix GPSFixMsg

Definition at line 87 of file typedefs.hpp.

◆ GPSStatusMsg

typedef gps_common::GPSStatus GPSStatusMsg

Definition at line 88 of file typedefs.hpp.

◆ ImuMsg

typedef sensor_msgs::Imu ImuMsg

Definition at line 92 of file typedefs.hpp.

◆ IMUSetupMsg

typedef septentrio_gnss_driver::IMUSetup IMUSetupMsg

Definition at line 118 of file typedefs.hpp.

◆ INSNavCartMsg

typedef septentrio_gnss_driver::INSNavCart INSNavCartMsg

Definition at line 116 of file typedefs.hpp.

◆ INSNavGeodMsg

typedef septentrio_gnss_driver::INSNavGeod INSNavGeodMsg

Definition at line 117 of file typedefs.hpp.

◆ LocalizationUtmMsg

typedef nav_msgs::Odometry LocalizationUtmMsg

Definition at line 93 of file typedefs.hpp.

◆ MeasEpochChannelType1Msg

typedef septentrio_gnss_driver::MeasEpochChannelType1 MeasEpochChannelType1Msg

Definition at line 98 of file typedefs.hpp.

◆ MeasEpochChannelType2Msg

typedef septentrio_gnss_driver::MeasEpochChannelType2 MeasEpochChannelType2Msg

Definition at line 99 of file typedefs.hpp.

◆ MeasEpochMsg

typedef septentrio_gnss_driver::MeasEpoch MeasEpochMsg

Definition at line 97 of file typedefs.hpp.

◆ NavSatFixMsg

typedef sensor_msgs::NavSatFix NavSatFixMsg

Definition at line 89 of file typedefs.hpp.

◆ NavSatStatusMsg

typedef sensor_msgs::NavSatStatus NavSatStatusMsg

Definition at line 90 of file typedefs.hpp.

◆ PosCovCartesianMsg

typedef septentrio_gnss_driver::PosCovCartesian PosCovCartesianMsg

Definition at line 104 of file typedefs.hpp.

◆ PosCovGeodeticMsg

typedef septentrio_gnss_driver::PosCovGeodetic PosCovGeodeticMsg

Definition at line 105 of file typedefs.hpp.

◆ PoseWithCovarianceStampedMsg

typedef geometry_msgs::PoseWithCovarianceStamped PoseWithCovarianceStampedMsg

Definition at line 85 of file typedefs.hpp.

◆ PVTCartesianMsg

typedef septentrio_gnss_driver::PVTCartesian PVTCartesianMsg

Definition at line 102 of file typedefs.hpp.

◆ PVTGeodeticMsg

typedef septentrio_gnss_driver::PVTGeodetic PVTGeodeticMsg

Definition at line 103 of file typedefs.hpp.

◆ QuaternionMsg

typedef geometry_msgs::Quaternion QuaternionMsg

Definition at line 84 of file typedefs.hpp.

◆ TimeReferenceMsg

typedef sensor_msgs::TimeReference TimeReferenceMsg

Definition at line 91 of file typedefs.hpp.

◆ Timestamp

typedef uint64_t Timestamp

Definition at line 77 of file typedefs.hpp.

◆ TimestampRos

typedef ros::Time TimestampRos

Definition at line 79 of file typedefs.hpp.

◆ TransformStampedMsg

typedef geometry_msgs::TransformStamped TransformStampedMsg

Definition at line 86 of file typedefs.hpp.

◆ VelCovCartesianMsg

typedef septentrio_gnss_driver::VelCovCartesian VelCovCartesianMsg

Definition at line 106 of file typedefs.hpp.

◆ VelCovGeodeticMsg

typedef septentrio_gnss_driver::VelCovGeodetic VelCovGeodeticMsg

Definition at line 107 of file typedefs.hpp.

◆ VelSensorSetupMsg

typedef septentrio_gnss_driver::VelSensorSetup VelSensorSetupMsg

Definition at line 119 of file typedefs.hpp.

Enumeration Type Documentation

◆ LogLevel

enum LogLevel

Log level for ROS logging.

Enumerator
DEBUG
INFO
WARN
ERROR
FATAL

Definition at line 147 of file typedefs.hpp.

Function Documentation

◆ timestampFromRos()

Timestamp timestampFromRos ( const TimestampRos & tsr )

inline

Convert ROS timestamp to nsec timestamp.

Parameters

[in] ts ROS timestamp

Returns: timestamp in nanoseconds (Unix epoch)

Definition at line 139 of file typedefs.hpp.

◆ timestampToRos()

TimestampRos timestampToRos ( Timestamp ts )